Figures showed 104,000 civil servants went on strike, representing only a minority of those who were members of the unions taking part.

And only 27 per cent of schools were closed, with another quarter facing disruption – far less than the nine in ten schools which the unions predicted would be affected.

The biggest impact was among Metropolitan Police 999 call handlers, where 95 per cent of workers went on strike. However, contingency plans meant that the average time taken to answer a call only increased from 10 seconds to 15 seconds.

Although ministers resisted appearing triumphant publicly, behind the scenes the lacklustre support for the strikes gave the Government renewed confidence that it can push through reforms to public sector pensions.

Ministers yesterday defended plans to increase to 66 the age at which public sector workers retire while forcing them to contribute more to the schemes. However, Francis Maude, the Cabinet Office minister, declined to say the proposals were finalised sparking speculation that the unions may win some concessions in talks next week.

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Last night, Downing Street aides said there had only been a “minimal impact” on the public from the strike action. “Our border controls are in place and Jobcentres and pension offices are open for business,” said a spokesman for the Prime Minister.

“Indicative figures from every government department show that, as of 12 noon today, over 75 per cent of civil servants were not on strike.”

The spokesman said the figures showed that “less than half of PCS [Public and Commercial Services Union] members decided to take strike action today.”

Members of the National Union of Teachers and the Association of Teachers and Lecturers were also on strike yesterday.

In England, 27 per cent of local authority schools were closed, 24 per cent were partly open and 28 per cent fully open, with the remainder not having yet reported the situation.

There was a heavy police presence in central London but fewer than 40 arrests were made. Police were seen removing suspected anarchists from a march of trade unionists to Westminster.

Union leaders insisted that the strikes were a success and reiterated threats that the worst industrial action in a generation faced Britain later in the year.

Yesterday, the British Medical Association voted to “consider” industrial action, which would be the first strike called by doctors for more than 30 years. Andrew Dearden, chairman of the BMA’s pensions committee, said many were concerned because the Government had refused to enter into talks with the union.

Mark Serwotka, general secretary of the PCS, said 85 per cent of his members had been on strike, adding that MPs had refused to cross picket lines and staff in Downing Street had taken action.

“The Government has been rumbled, and ministers are either badly briefed – or they are lying,” he said. Mary Bousted, general secretary of the Association of Teachers and Lecturers said: “We are here because of our force of reason, not the Government’s reason of force.”

Several union leaders turned on Ed Miliband, the Labour leader, after he called on them not to strike.